The SENROB Vision-System and its Philosophy

Objects arbitrarily positioned within the working space of our MANUTEC r2 robot are detected and foveated by a colour TV-camera mounted close to the robot's hand. Previously learnt objects are recognized and gripped while unknown objects are included into the system by feeding the name of the object. Neural representations of regions, contours, corners, and colours are learnt by only one presentation. Invariances are due to parametric mappings controlled by estimated values of orientation and distance. All components of the architecture are massively parallel, and the system provides high reliability and accuracy. 1 Introduction The SENROB vision system is the result of our sub-project within a cooperation in the field of neural systems for sensor based robotics (SENROB) 1 . In view of the variety of robot vision systems it seems helpful to start with a description of the essentials of our architecture before going into the details. Our ambitious goal was a highly robust vision sys..